April 10, 2017 (Monday)

08:20-08:30Round Room IIOpening Remarks
Jeffrey J.P. Tsai, Asia University, Taiwan
08:30-08:40Round Room IIHonorary General Chair’s Remarks
Dr. Eric Y.T. Chuo, Chairman of HIWIN Technologies Corp.
08:40-09:40Round Room IIKeynote Speech I
Session Chair: Jean-Claude Latombe, Stanford University, USA

Multi-Scale Robotics
Toshio Fukuda, Beijin Institute of Technology, Nagoya University, Meijo University
09:40-10:40Round Room IIKeynote Speech II
Session Chair: Jean-Claude Latombe, Stanford University, USA

Cyber Physical Computing System Activating Intelligent Robotics: Challenges and Perspectives
Ren C. Luo, ASUS Computer Inc., National Taiwan University, Taiwan
10:40-11:00Coffee Break
11:00-12:00Round Room IIIRC(1) Software Architectures and Middleware Infrastructures (I)
Session Chair: Francesco Romano, Istituto Italiano di Tecnologia, Italy

A Whole-Body Software Abstraction Layer for Control Design of Free-Floating Mechanical Systems
Francesco Romano, Silvio Traversaro, Daniele Pucci, Jorhabib Eljaik, Andrea Del Prete, Francesco Nori

Architecture of an Extensible Visual Programming Environment for Authoring Behaviour of Personal Service Robots
Chandan Datta, Bruce A MacDonald

D* Lite with Reset: Improved Version of D* Lite for Complex Environment
An T. Le, Minh Q. Bui, Than D. Le, Nauth Peter
VIP RoomIRC(2) Cloud Computing
Session Chair: Malathi Veeraraghavan, University of Virginia, USA

Real-Time, Cloud-Based Object Detection for Unmanned Aerial Vehicles
Jangwon Lee, Jingya Wang, David Crandall, Selma Šabanović, Geoffrey Fox

An Industrial Robotics Application with Cloud Computing and High-Speed Networking
R. Rahimi, C. Shao, M. Veeraraghavan, A. Fumagalli, J. Nicho, J. Meyer, S. Edwards, C. Flannigan, P. Evans

A Load-Based Scheduling to Improve Performance in Cloud Systems
Yi-Ju Chiang, Yen-Chieh Ouyang, Armin B. Cremers, Liangyu Xu
12:00-13:30Round Room ILunch
Exhibition: HIWIN Technologies Corp.
13:10-14:30Round Room IIIRC(3) Software Architectures and Middleware Infrastructures (II)
Session Chair: Andreas Wortmann, RWTH Aachen University, Germany

Modularization of Domain-Specific Languages for Extensible Component-Based Robotic Systems
Dennis Leroy Wigand, Arne Nordmann, Michael Goerlich, Sebastian Wrede

Engineering Robotics Software Architectures with Exchangeable Model Transformations
Kai Adam, Katrin Hölldobler, Bernhard Rumpe, Andreas Wortmann

Software Architecture of the Da Vinci Research Kit
Zihan Chen, Anton Deguet, Russell H. Taylor, Peter Kazanzides

From High-Level Task Specification to Robot Operating System (ROS) Implementation
Kai Weng Wong, Hadas Kress-Gazit
VIP RoomIRC(4) Hardware Modeling and Abstraction
Session Chair: Andrea Giusti, Technische Universität München, Germany

Analytic Inverse Kinematics Considering the Joint Constraints and Self-Collision for Redundant 7DOF Manipulator
Jaesung Oh, Hyoin Bae, Jun-Ho Oh

Efficient Computation of Interval-Arithmetic-Based Robust Controllers for Rigid Robots
Andrea Giusti, Matthias Althoff

Modeling and Control of an Autonomous Three Wheeled Mobile Robot with Front Steer
Ayush Pandey, Siddharth Jha, Debashish Chakravarty

Mechanical and Gait Design for Roll-Free Multiple Legged Robot Driven by Single Motor
Sadayoshi Mikami, Tomohisa Fukuda
14:40-16:00Round Room IIIRC(5) Software Architectures and Middleware Infrastructures (III)
Session Chair: Max Reichardt, University of Kaiserslautern, Germany

UI Design for an Engineering Process: Programming Experiments on a Liquid Handling Robot
Farzad Nejatimoharrami, Andres Faina, Andrea Jovanovic, Olivier St-Cyr, Mark Chignell, Kasper Stoy

Using AADL to Model and Develop ROS-Based Robotic Application
Gianluca Bardaro, Matteo Matteucci

MAUVE Runtime: A Component-Based Middleware to Reconfigure Software Architectures in Real-Time
David Doose, Christophe Grand, Charles Lesire

One Fits More - On the Relevance of Highly Modular Framework and Middleware Design for Quality Characteristics of Robotics Software
Max Reichardt, Steffen Schütz, Karsten Berns
VIP RoomIRC(6) Path Planning and Robot Navigation (I)
Session Chair: Brian Ichter, Stanford University, USA

Group Marching Tree: Sampling-Based Approximately Optimal Motion Planning on GPUs
Brian Ichter, Edward Schmerling, Marco Pavone

The Team Surviving Orienteers Problem: Routing Robots in Uncertain Environments with Survival Constraints
Stefan Jorgensen, Robert H. Chen, Mark B. Milam, Marco Pavone

Realization of an Autonomous, Air-to-Air Counter Unmanned Aerial System (CUAS)
James M. Goppert, Amy R. Wagoner, Daniel K. Schrader, Shiva Ghose, Yongho Kim, Seongha Park, Mauricio Gomez, Eric T. Matson, Michael J. Hopmeier

Bezier Curve-Based Smoothing for Path Planner with Curvature Constraint
Reinis Cimurs, Jaepyung Hwang, Il Hong Suh
16:00-16:20Coffee Break
16:20-17:40Round Room IIIRC(7) Task Planning and Multi-robot Systems
Session Chair: Sebastian Zanlongo, Florida International University, USA

Consistent World Models for Cooperating Robots: Separating Logical Relationships, Sensor Interpretation and Estimation
Andreas Schierl, Andreas Angerer, Alwin Hoffmann, Wolfgang Reif

Multi-Robot Planning for Non-Overlapping Operator Attention Allocation
Sebastian A. Zanlongo, Mahbubur Rahman, Franklin Abodo, Leonardo Bobadilla

Real-Time Image-Guided Telerobotic System Integrating 3D Slicer and the Da Vinci Research Kit
Sungmin Kim, Youri Tan, Anton Deguet, Peter Kazanzides

NAIST Openhand M2S: A Versatile Two-Finger Gripper Adapted for Pulling and Tucking Textile
Felix Von Drigalski, Daiki Yoshioka, Wataru Yamazaki, Sung-Gwi Cho, Marcus Gall, Pedro Miguell Uriguen Eljuri, Viktor Hoerig, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara
VIP RoomIRC(8) Path Planning and Robot Navigation (II)
Session Chair: Stefan Jorgensen, Stanford University, USA

Minimalist Robot Navigation and Coverage Using a Dynamical System Approach
Tauhidul Alam, Leonardo Bobadilla, Dylan A. Shell

A Hybrid Obstacle Avoidance Method: Follow the Gap with Dynamic Window Approach
Aykut Özdemir, Volkan Sezer

Synthesis of Safety Rules for Active Monitoring: Application to an Airport Light Measurement Robot
Lola Masson, Jérémie Guiochet, Hélène Waeselynck, Augustin Desfosses, Marc Laval

Sliding Local Planners for Sampling-Based Path Planning
S. M. Rayhan Rahman, Sue Whitesides
18:20-21:00Round Room IReception